/* -----------------------------------------------------------------------------
 * Copyright (c) 2013-2015 ARM Ltd.
 *
 * This software is provided 'as-is', without any express or implied warranty.
 * In no event will the authors be held liable for any damages arising from
 * the use of this software. Permission is granted to anyone to use this
 * software for any purpose, including commercial applications, and to alter
 * it and redistribute it freely, subject to the following restrictions:
 *
 * 1. The origin of this software must not be misrepresented; you must not
 *    claim that you wrote the original software. If you use this software in
 *    a product, an acknowledgment in the product documentation would be
 *    appreciated but is not required.
 *
 * 2. Altered source versions must be plainly marked as such, and must not be
 *    misrepresented as being the original software.
 *
 * 3. This notice may not be removed or altered from any source distribution.
 *
 *
 * $Date: 16/08/01 11:19a $Revision:    V1.00
 *
 * Project:      CAN (Controller Area Network) Driver definitions
 * -------------------------------------------------------------------------- */

/* History:
 *  Version 1.00
 *    Initial release
 */

#ifndef __DRIVER_CAN_H
#define __DRIVER_CAN_H

#include "Driver_Common.h"

#define ARM_CAN_API_VERSION ARM_DRIVER_VERSION_MAJOR_MINOR(1,0)/* API version */


/****** CAN Bitrate selection codes *****/
typedef enum _ARM_CAN_BITRATE_SELECT {
  ARM_CAN_BITRATE_NOMINAL,              ///< Select nominal (flexible data-rate arbitration) bitrate
  ARM_CAN_BITRATE_FD_DATA               ///< Select flexible data-rate data bitrate
} ARM_CAN_BITRATE_SELECT;

/****** CAN Bit Propagation Segment codes (PROP_SEG) *****/
#define ARM_CAN_BIT_PROP_SEG_Pos        0UL       ///< bits 7..0
#define ARM_CAN_BIT_PROP_SEG_Msk       (0xFFUL << ARM_CAN_BIT_PROP_SEG_Pos)
#define ARM_CAN_BIT_PROP_SEG(x)      (((x)     << ARM_CAN_BIT_PROP_SEG_Pos) & ARM_CAN_BIT_PROP_SEG_Msk)

/****** CAN Bit Phase Buffer Segment 1 (PHASE_SEG1) codes *****/
#define ARM_CAN_BIT_PHASE_SEG1_Pos      8UL       ///< bits 15..8
#define ARM_CAN_BIT_PHASE_SEG1_Msk     (0xFFUL << ARM_CAN_BIT_PHASE_SEG1_Pos)
#define ARM_CAN_BIT_PHASE_SEG1(x)    (((x)     << ARM_CAN_BIT_PHASE_SEG1_Pos) & ARM_CAN_BIT_PHASE_SEG1_Msk)

/****** CAN Bit Phase Buffer Segment 2 (PHASE_SEG2) codes *****/
#define ARM_CAN_BIT_PHASE_SEG2_Pos      16UL      ///< bits 23..16
#define ARM_CAN_BIT_PHASE_SEG2_Msk     (0xFFUL << ARM_CAN_BIT_PHASE_SEG2_Pos)
#define ARM_CAN_BIT_PHASE_SEG2(x)    (((x)     << ARM_CAN_BIT_PHASE_SEG2_Pos) & ARM_CAN_BIT_PHASE_SEG2_Msk)

/****** CAN Bit (Re)Synchronization Jump Width Segment (SJW) *****/
#define ARM_CAN_BIT_SJW_Pos             24UL      ///< bits 28..24
#define ARM_CAN_BIT_SJW_Msk            (0x1FUL << ARM_CAN_BIT_SJW_Pos)
#define ARM_CAN_BIT_SJW(x)           (((x)     << ARM_CAN_BIT_SJW_Pos) & ARM_CAN_BIT_SJW_Msk)

/****** CAN Mode codes *****/
typedef enum _ARM_CAN_MODE {
  ARM_CAN_MODE_INITIALIZATION,          ///< Initialization mode
  ARM_CAN_MODE_NORMAL,                  ///< Normal operation mode
  ARM_CAN_MODE_RESTRICTED,              ///< Restricted operation mode
  ARM_CAN_MODE_MONITOR,                 ///< Bus monitoring mode
  ARM_CAN_MODE_LOOPBACK_INTERNAL,       ///< Loopback internal mode
  ARM_CAN_MODE_LOOPBACK_EXTERNAL        ///< Loopback external mode
} ARM_CAN_MODE;

/****** CAN Filter Operation codes *****/
typedef enum _ARM_CAN_FILTER_OPERATION {
  ARM_CAN_FILTER_ID_EXACT_ADD,          ///< Add    exact id filter
  ARM_CAN_FILTER_ID_EXACT_REMOVE,       ///< Remove exact id filter
  ARM_CAN_FILTER_ID_RANGE_ADD,          ///< Add    range id filter
  ARM_CAN_FILTER_ID_RANGE_REMOVE,       ///< Remove range id filter
  ARM_CAN_FILTER_ID_MASKABLE_ADD,       ///< Add    maskable id filter
  ARM_CAN_FILTER_ID_MASKABLE_REMOVE     ///< Remove maskable id filter
} ARM_CAN_FILTER_OPERATION;

/****** CAN Object Configuration codes *****/
typedef enum _ARM_CAN_OBJ_CONFIG {
  ARM_CAN_OBJ_INACTIVE,                 ///< CAN object inactive
  ARM_CAN_OBJ_TX,                       ///< CAN transmit object
  ARM_CAN_OBJ_RX,                       ///< CAN receive object
  ARM_CAN_OBJ_RX_RTR_TX_DATA,           ///< CAN object that on RTR reception automatically transmits Data Frame
  ARM_CAN_OBJ_TX_RTR_RX_DATA            ///< CAN object that transmits RTR and automatically receives Data Frame
} ARM_CAN_OBJ_CONFIG;

/**
\brief CAN Object Capabilities
*/
typedef struct _ARM_CAN_OBJ_CAPABILITIES {
  uint32_t tx               : 1;        ///< Object supports transmission
  uint32_t rx               : 1;        ///< Object supports reception
  uint32_t rx_rtr_tx_data   : 1;        ///< Object supports RTR reception and automatic Data Frame transmission
  uint32_t tx_rtr_rx_data   : 1;        ///< Object supports RTR transmission and automatic Data Frame reception
  uint32_t multiple_filters : 1;        ///< Object allows assignment of multiple filters to it
  uint32_t exact_filtering  : 1;        ///< Object supports exact identifier filtering
  uint32_t range_filtering  : 1;        ///< Object supports range identifier filtering
  uint32_t mask_filtering   : 1;        ///< Object supports mask identifier filtering
  uint32_t message_depth    : 8;        ///< Number of messages buffers (FIFO) for that object
} ARM_CAN_OBJ_CAPABILITIES;

/****** CAN Control Function Operation codes *****/
#define ARM_CAN_CONTROL_Pos             0UL
#define ARM_CAN_CONTROL_Msk            (0xFFUL << ARM_CAN_CONTROL_Pos)
#define ARM_CAN_SET_FD_MODE            (1UL    << ARM_CAN_CONTROL_Pos)          ///< Set FD operation mode;                   arg: 0 = disable, 1 = enable
#define ARM_CAN_ABORT_MESSAGE_SEND     (2UL    << ARM_CAN_CONTROL_Pos)          ///< Abort sending of CAN message;            arg = object
#define ARM_CAN_CONTROL_RETRANSMISSION (3UL    << ARM_CAN_CONTROL_Pos)          ///< Enable/disable automatic retransmission; arg: 0 = disable, 1 = enable (default state)
#define ARM_CAN_SET_TRANSCEIVER_DELAY  (4UL    << ARM_CAN_CONTROL_Pos)          ///< Set transceiver delay;                   arg = delay in time quanta

/****** CAN ID Frame Format codes *****/
#define ARM_CAN_ID_IDE_Pos              31UL
#define ARM_CAN_ID_IDE_Msk             (1UL    << ARM_CAN_ID_IDE_Pos)

/****** CAN Identifier encoding *****/
#define ARM_CAN_STANDARD_ID(id)        (id & 0x000007FFUL)                      ///< CAN identifier in standard format (11-bits)
#define ARM_CAN_EXTENDED_ID(id)       ((id & 0x1FFFFFFFUL) | ARM_CAN_ID_IDE_Msk)///< CAN identifier in extended format (29-bits)

/**
\brief CAN Message Information
*/
typedef struct _ARM_CAN_MSG_INFO {
  uint32_t id;                          ///< CAN identifier with frame format specifier (bit 31)
  uint32_t rtr              : 1;        ///< Remote transmission request frame
  uint32_t edl              : 1;        ///< Flexible data-rate format extended data length
  uint32_t brs              : 1;        ///< Flexible data-rate format with bitrate switch 
  uint32_t esi              : 1;        ///< Flexible data-rate format error state indicator
  uint32_t dlc              : 4;        ///< Data length code
} ARM_CAN_MSG_INFO;

/****** CAN specific error code *****/
#define ARM_CAN_INVALID_BITRATE_SELECT (ARM_DRIVER_ERROR_SPECIFIC - 1)          ///< Bitrate selection not supported
#define ARM_CAN_INVALID_BITRATE        (ARM_DRIVER_ERROR_SPECIFIC - 2)          ///< Requested bitrate not supported
#define ARM_CAN_INVALID_BIT_PROP_SEG   (ARM_DRIVER_ERROR_SPECIFIC - 3)          ///< Propagation segment value not supported
#define ARM_CAN_INVALID_BIT_PHASE_SEG1 (ARM_DRIVER_ERROR_SPECIFIC - 4)          ///< Phase segment 1 value not supported
#define ARM_CAN_INVALID_BIT_PHASE_SEG2 (ARM_DRIVER_ERROR_SPECIFIC - 5)          ///< Phase segment 2 value not supported
#define ARM_CAN_INVALID_BIT_SJW        (ARM_DRIVER_ERROR_SPECIFIC - 6)          ///< SJW value not supported
#define ARM_CAN_NO_MESSAGE_AVAILABLE   (ARM_DRIVER_ERROR_SPECIFIC - 7)          ///< Message is not available

/****** CAN Status codes *****/
#define ARM_CAN_UNIT_STATE_INACTIVE    (0U)             ///< Unit state: Not active on bus (initialize or error bus off)
#define ARM_CAN_UNIT_STATE_ACTIVE      (1U)             ///< Unit state: Active on bus (can generate active error frame)
#define ARM_CAN_UNIT_STATE_PASSIVE     (2U)             ///< Unit state: Error passive (can not generate active error frame)
#define ARM_CAN_LEC_NO_ERROR           (0U)             ///< Last error code: No error
#define ARM_CAN_LEC_BIT_ERROR          (1U)             ///< Last error code: Bit error
#define ARM_CAN_LEC_STUFF_ERROR        (2U)             ///< Last error code: Bit stuffing error
#define ARM_CAN_LEC_CRC_ERROR          (3U)             ///< Last error code: CRC error
#define ARM_CAN_LEC_FORM_ERROR         (4U)             ///< Last error code: Illegal fixed-form bit
#define ARM_CAN_LEC_ACK_ERROR          (5U)             ///< Last error code: Acknowledgement error

/**
\brief CAN Status
*/
typedef struct _ARM_CAN_STATUS {
  uint32_t unit_state       : 4;        ///< Unit bus state
  uint32_t last_error_code  : 4;        ///< Last error code
  uint32_t tx_error_count   : 8;        ///< Transmitter error count
  uint32_t rx_error_count   : 8;        ///< Receiver error count
} ARM_CAN_STATUS;


/****** CAN Unit Event *****/
#define ARM_CAN_EVENT_UNIT_ACTIVE      (1U)             ///< Unit entered Error Active state
#define ARM_CAN_EVENT_UNIT_WARNING     (2U)             ///< Unit entered Error Warning state (one or both error counters >= 96)
#define ARM_CAN_EVENT_UNIT_PASSIVE     (3U)             ///< Unit entered Error Passive state
#define ARM_CAN_EVENT_UNIT_BUS_OFF     (4U)             ///< Unit entered bus off state

/****** CAN Send/Receive Event *****/
#define ARM_CAN_EVENT_SEND_COMPLETE    (1UL << 0)       ///< Send complete
#define ARM_CAN_EVENT_RECEIVE          (1UL << 1)       ///< Message received
#define ARM_CAN_EVENT_RECEIVE_OVERRUN  (1UL << 2)       ///< Received message overrun


// Function documentation
/**
  \fn          ARM_DRIVER_VERSION ARM_CAN_GetVersion (void)
  \brief       Get driver version.
  \return      \ref ARM_DRIVER_VERSION

  \fn          ARM_CAN_CAPABILITIES ARM_CAN_GetCapabilities (void)
  \brief       Get driver capabilities.
  \return      \ref ARM_CAN_CAPABILITIES

  \fn          int32_t ARM_CAN_Initialize (ARM_CAN_SignalUnitEvent_t   cb_unit_event,
                                           ARM_CAN_SignalObjectEvent_t cb_object_event)
  \brief       Initialize CAN interface and register signal (callback) functions.
  \param[in]   cb_unit_event   Pointer to \ref ARM_CAN_SignalUnitEvent callback function
  \param[in]   cb_object_event Pointer to \ref ARM_CAN_SignalObjectEvent callback function
  \return      \ref execution_status

  \fn          int32_t ARM_CAN_Uninitialize (void)
  \brief       De-initialize CAN interface.
  \return      \ref execution_status

  \fn          int32_t ARM_CAN_PowerControl (ARM_POWER_STATE state)
  \brief       Control CAN interface power.
  \param[in]   state  Power state
                 - \ref ARM_POWER_OFF :  power off: no operation possible
                 - \ref ARM_POWER_LOW :  low power mode: retain state, detect and signal wake-up events
                 - \ref ARM_POWER_FULL : power on: full operation at maximum performance
  \return      \ref execution_status

  \fn          uint32_t ARM_CAN_GetClock (void)
  \brief       Retrieve CAN base clock frequency.
  \return      base clock frequency

  \fn          int32_t ARM_CAN_SetBitrate (ARM_CAN_BITRATE_SELECT select, uint32_t bitrate, uint32_t bit_segments)
  \brief       Set bitrate for CAN interface.
  \param[in]   select       Bitrate selection
                 - \ref ARM_CAN_BITRATE_NOMINAL : nominal (flexible data-rate arbitration) bitrate
                 - \ref ARM_CAN_BITRATE_FD_DATA : flexible data-rate data bitrate
  \param[in]   bitrate      Bitrate
  \param[in]   bit_segments Segment time quanta for signal sampling
  \return      \ref execution_status

  \fn          int32_t ARM_CAN_SetMode (ARM_CAN_MODE mode)
  \brief       Set operating mode for CAN interface.
  \param[in]   mode   Operating mode
                 - \ref ARM_CAN_MODE_INITIALIZATION :    initialization mode
                 - \ref ARM_CAN_MODE_NORMAL :            normal operation mode
                 - \ref ARM_CAN_MODE_RESTRICTED :        restricted operation mode
                 - \ref ARM_CAN_MODE_MONITOR :           bus monitoring mode
                 - \ref ARM_CAN_MODE_LOOPBACK_INTERNAL : loopback internal mode
                 - \ref ARM_CAN_MODE_LOOPBACK_EXTERNAL : loopback external mode
  \return      \ref execution_status

  \fn          ARM_CAN_OBJ_CAPABILITIES ARM_CAN_ObjectGetCapabilities (uint32_t obj_idx)
  \brief       Retrieve capabilities of an object.
  \param[in]   obj_idx  Object index
  \return      \ref ARM_CAN_OBJ_CAPABILITIES

  \fn          int32_t ARM_CAN_ObjectSetFilter (uint32_t obj_idx, ARM_CAN_FILTER_OPERATION operation, uint32_t id, uint32_t arg)
  \brief       Add or remove filter for message reception.
  \param[in]   obj_idx      Object index of object that filter should be or is assigned to
  \param[in]   operation    Operation on filter
                 - \ref ARM_CAN_FILTER_ID_EXACT_ADD :       add    exact id filter
                 - \ref ARM_CAN_FILTER_ID_EXACT_REMOVE :    remove exact id filter
                 - \ref ARM_CAN_FILTER_ID_RANGE_ADD :       add    range id filter
                 - \ref ARM_CAN_FILTER_ID_RANGE_REMOVE :    remove range id filter
                 - \ref ARM_CAN_FILTER_ID_MASKABLE_ADD :    add    maskable id filter
                 - \ref ARM_CAN_FILTER_ID_MASKABLE_REMOVE : remove maskable id filter
  \param[in]   id           ID or start of ID range (depending on filter type)
  \param[in]   arg          Mask or end of ID range (depending on filter type)
  \return      \ref execution_status

  \fn          int32_t ARM_CAN_ObjectConfigure (uint32_t obj_idx, ARM_CAN_OBJ_CONFIG obj_cfg)
  \brief       Configure object.
  \param[in]   obj_idx  Object index
  \param[in]   obj_cfg  Object configuration state
                 - \ref ARM_CAN_OBJ_INACTIVE :       deactivate object
                 - \ref ARM_CAN_OBJ_RX :             configure object for reception
                 - \ref ARM_CAN_OBJ_TX :             configure object for transmission
                 - \ref ARM_CAN_OBJ_RX_RTR_TX_DATA : configure object that on RTR reception automatically transmits Data Frame
                 - \ref ARM_CAN_OBJ_TX_RTR_RX_DATA : configure object that transmits RTR and automatically receives Data Frame
  \return      \ref execution_status

  \fn          int32_t ARM_CAN_MessageSend (uint32_t obj_idx, ARM_CAN_MSG_INFO *msg_info, const uint8_t *data, uint8_t size)
  \brief       Send message on CAN bus.
  \param[in]   obj_idx  Object index
  \param[in]   msg_info Pointer to CAN message information
  \param[in]   data     Pointer to data buffer
  \param[in]   size     Number of data bytes to send
  \return      value >= 0  number of data bytes accepted to send
  \return      value < 0   \ref execution_status

  \fn          int32_t ARM_CAN_MessageRead (uint32_t obj_idx, ARM_CAN_MSG_INFO *msg_info, uint8_t *data, uint8_t size)
  \brief       Read message received on CAN bus.
  \param[in]   obj_idx  Object index
  \param[out]  msg_info Pointer to read CAN message information
  \param[out]  data     Pointer to data buffer for read data
  \param[in]   size     Maximum number of data bytes to read
  \return      value >= 0  number of data bytes read
  \return      value < 0   \ref execution_status

  \fn          int32_t ARM_CAN_Control (uint32_t control, uint32_t arg)
  \brief       Control CAN interface.
  \param[in]   control  Operation
                 - \ref ARM_CAN_SET_FD_MODE :            set FD operation mode
                 - \ref ARM_CAN_ABORT_MESSAGE_SEND :     abort sending of CAN message
                 - \ref ARM_CAN_CONTROL_RETRANSMISSION : enable/disable automatic retransmission
                 - \ref ARM_CAN_SET_TRANSCEIVER_DELAY :  set transceiver delay
  \param[in]   arg      Argument of operation
  \return      \ref execution_status

  \fn          ARM_CAN_STATUS ARM_CAN_GetStatus (void)
  \brief       Get CAN status.
  \return      CAN status \ref ARM_CAN_STATUS

  \fn          void ARM_CAN_SignalUnitEvent (uint32_t event)
  \brief       Signal CAN unit event.
  \param[in]   event \ref CAN_unit_events
  \return      none

  \fn          void ARM_CAN_SignalObjectEvent (uint32_t obj_idx, uint32_t event)
  \brief       Signal CAN object event.
  \param[in]   obj_idx  Object index
  \param[in]   event \ref CAN_events
  \return      none
*/

typedef void (*ARM_CAN_SignalUnitEvent_t)   (uint32_t event);                   ///< Pointer to \ref ARM_CAN_SignalUnitEvent   : Signal CAN Unit Event.
typedef void (*ARM_CAN_SignalObjectEvent_t) (uint32_t obj_idx, uint32_t event); ///< Pointer to \ref ARM_CAN_SignalObjectEvent : Signal CAN Object Event.


/**
\brief CAN Device Driver Capabilities.
*/
typedef struct _ARM_CAN_CAPABILITIES {
  uint32_t num_objects            : 8;  ///< Number of \ref can_objects available
  uint32_t reentrant_operation    : 1;  ///< Support for reentrant calls to \ref ARM_CAN_MessageSend, \ref ARM_CAN_MessageRead, \ref ARM_CAN_ObjectConfigure and abort message sending used by \ref ARM_CAN_Control
  uint32_t fd_mode                : 1;  ///< Support for CAN with flexible data-rate mode (CAN_FD) (set by \ref ARM_CAN_Control)
  uint32_t restricted_mode        : 1;  ///< Support for restricted operation mode (set by \ref ARM_CAN_SetMode)
  uint32_t monitor_mode           : 1;  ///< Support for bus monitoring mode (set by \ref ARM_CAN_SetMode)
  uint32_t internal_loopback      : 1;  ///< Support for internal loopback mode (set by \ref ARM_CAN_SetMode)
  uint32_t external_loopback      : 1;  ///< Support for external loopback mode (set by \ref ARM_CAN_SetMode)
} ARM_CAN_CAPABILITIES;


/**
\brief Access structure of the CAN Driver.
*/
typedef struct _ARM_DRIVER_CAN {
  ARM_DRIVER_VERSION       (*GetVersion)            (void);                             ///< Pointer to \ref ARM_CAN_GetVersion            : Get driver version.
  ARM_CAN_CAPABILITIES     (*GetCapabilities)       (void);                             ///< Pointer to \ref ARM_CAN_GetCapabilities       : Get driver capabilities.
  int32_t                  (*Initialize)            (ARM_CAN_SignalUnitEvent_t   cb_unit_event,                     
                                                     ARM_CAN_SignalObjectEvent_t cb_object_event); ///< Pointer to \ref ARM_CAN_Initialize : Initialize CAN interface.
  int32_t                  (*Uninitialize)          (void);                             ///< Pointer to \ref ARM_CAN_Uninitialize          : De-initialize CAN interface.
  int32_t                  (*PowerControl)          (ARM_POWER_STATE          state);   ///< Pointer to \ref ARM_CAN_PowerControl          : Control CAN interface power.
  uint32_t                 (*GetClock)              (void);                             ///< Pointer to \ref ARM_CAN_GetClock              : Retrieve CAN base clock frequency.
  int32_t                  (*SetBitrate)            (ARM_CAN_BITRATE_SELECT   select,
                                                     uint32_t                 bitrate,
                                                     uint32_t                 bit_segments);       ///< Pointer to \ref ARM_CAN_SetBitrate : Set bitrate for CAN interface.
  int32_t                  (*SetMode)               (ARM_CAN_MODE             mode);    ///< Pointer to \ref ARM_CAN_SetMode               : Set operating mode for CAN interface.
  ARM_CAN_OBJ_CAPABILITIES (*ObjectGetCapabilities) (uint32_t                 obj_idx); ///< Pointer to \ref ARM_CAN_ObjectGetCapabilities : Retrieve capabilities of an object.
  int32_t                  (*ObjectSetFilter)       (uint32_t                 obj_idx,
                                                     ARM_CAN_FILTER_OPERATION operation,
                                                     uint32_t                 id,
                                                     uint32_t                 arg);     ///< Pointer to \ref ARM_CAN_ObjectSetFilter       : Add or remove filter for message reception.
  int32_t                  (*ObjectConfigure)       (uint32_t                 obj_idx,
                                                     ARM_CAN_OBJ_CONFIG       obj_cfg); ///< Pointer to \ref ARM_CAN_ObjectConfigure       : Configure object.
  int32_t                  (*MessageSend)           (uint32_t                 obj_idx,
                                                     ARM_CAN_MSG_INFO        *msg_info,
                                                     const uint8_t           *data,
                                                     uint8_t                  size);    ///< Pointer to \ref ARM_CAN_MessageSend           : Send message on CAN bus.
  int32_t                  (*MessageRead)           (uint32_t                 obj_idx,
                                                     ARM_CAN_MSG_INFO        *msg_info,
                                                     uint8_t                 *data,
                                                     uint8_t                  size);    ///< Pointer to \ref ARM_CAN_MessageRead           : Read message received on CAN bus.
  int32_t                  (*Control)               (uint32_t                 control,
                                                     uint32_t                 arg);     ///< Pointer to \ref ARM_CAN_Control               : Control CAN interface.
  ARM_CAN_STATUS           (*GetStatus)             (void);                             ///< Pointer to \ref ARM_CAN_GetStatus             : Get CAN status.
} const ARM_DRIVER_CAN;

#endif /* __DRIVER_CAN_H */
